JP5306301B2 - Motor control element and electrical equipment - Google Patents

Abstract

A motor control device controlling an inverter to control an electric motor, includes a plurality of function sections, a voltage command generating section generating a d-axis voltage command and a q-axis voltage command, a voltage operational processing section, an input current operation section, a speed information generating section estimating a rotational speed of the motor based on at least one of a motor constant, a positional information generating section delivering positional information about a rotor, and a processor executing control software set by a user or a manufacturer. At least a part of the function sections are configured by hardware. The function section configured by the hardware is given at least one parameter retaining section. The parameter retaining section is configured so as to be readable/writable on the processor. The function section is configured by the hardware so as to be operated in a predetermined sequence.

Description

  The present invention relates to a motor control element for driving and controlling a motor, and an electric apparatus using the motor control element.

Conventionally, a microprocessor and a DSP (Digital Signal Processor) are used to drive and control a motor. When software is coded using a microprocessor or DSP, the software designer needs software to create a number of functional blocks related to vector control, so skillful skills are required. It depends on the skill of the engineer, software programming, and coding experience.
In order to solve such a problem, a technique in which the motor control sequence is entirely implemented in hardware has been developed (see, for example, Patent Document 1). According to the technique described in Patent Document 1, a plurality of operation control modules are configured by digital hardware based on z conversion, and a motor is controlled by causing a sequencer to execute these operation control modules in a set order. doing. In this case, it is not necessary to develop software, and setting parameters are reduced. Therefore, the motor can be easily controlled, and can be executed at a higher speed than that configured by software.

  However, in the technology of Patent Document 1, since a module for performing a control operation is implemented as hardware, a specific function desired by a user who uses an element cannot be added, and a product that requires specific processing is required. It becomes difficult to use it.

JP 2005-168282 A

  The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to improve the degree of freedom of addition / deletion of a function desired by an element user while maintaining a high speed control operation. It is to provide a control element and an electric device using the motor control element.

A motor control element according to an embodiment of the present invention includes a command voltage generator that generates a command d-axis voltage and a command q-axis voltage, and a switching element based on the command d-axis voltage and the command q-axis voltage by the command voltage generator. A voltage calculation processing unit configured to output an energization signal to an inverter for driving a motor, and a current for detecting a current flowing in the winding of the motor when the voltage calculation processing unit outputs an energization signal to the inverter A detection unit; an input current calculation unit that obtains a d-axis current that is an excitation component current and a q-axis current that is a torque component current based on a detection current of the current detection unit; a motor constant; d of the command voltage generation unit The rotational speed of the motor is estimated based on at least one parameter of an axis voltage, a q-axis voltage, a d-axis current of the input current calculation unit, and a q-axis current, or the motor A plurality of speed information generation units that detect a rotation speed and output a rotation speed signal; and a position information generation unit that outputs position information of the rotor based on the rotation speed signal output from the speed information generation unit. A motor control element configured to drive and control the motor via the inverter, the processor executing control software provided by a user or a manufacturer, and the like. At least a part of the functional units is configured by hardware, and the functional unit configured by the hardware holds at least one parameter such as an input register, an output register, an internal variable register, and an internal constant register. The parameter holding unit is configured to be readable / writable from the processor, and is configured by the hardware. Configured functional unit is configured to operate along the predetermined sequence, wherein the functional unit is a feasible constituted by the processor executing the control software, the processor control software The function unit that can be realized by executing the function unit is configured to be switchable with the function unit configured in the hardware . In the above, the motor constant indicates a motor resistance value, an inductance value, and an induced voltage coefficient.

  ADVANTAGE OF THE INVENTION According to this invention, the freedom degree of the addition / deletion of the function which the user of an element wants improves, maintaining high speed.

The functional block diagram of the motor control system which shows 1st Embodiment of this invention. Electrical configuration diagram of current detector using 3-shunt detection method State transition diagram of motor control stage Table showing control operation commands and operation processing examples Table showing examples of control action command settings Diagram showing I / O processing and its sequence Flow chart showing main processing of control software Flow chart showing interrupt processing of control software FIG. 1 equivalent view showing a second embodiment of the present invention FIG. 1 equivalent view showing a third embodiment of the present invention Electrical configuration diagram of current detector by 1 shunt detection method Diagram showing control correspondence between voltage vector, energization pattern, and direct current Illustration of voltage vector in αβ coordinate system Flow chart showing switching process between 3-shunt detection system and 1-shunt detection system The block diagram which shows 4th Embodiment of this invention. Operation explanation

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a functional block diagram showing the configuration of a motor control system that vector-controls the rotation of a motor. The motor 1 is constituted by, for example, a three-phase IPM (Interior Permanent Magnet) motor. In the vector control, the current flowing in the armature winding is separated into the direction of the magnetic flux of the permanent magnet and the direction orthogonal thereto, and these are adjusted independently to control the magnetic flux and the generated torque. In the current control, a d-axis current (excitation current) and a q-axis current (torque component current) expressed in a dq coordinate system that rotates with the rotor of the motor 1 are used.

  As shown in FIG. 1, the motor control element 2 functionally includes a speed control unit 3, a current control unit 4, a dq / αβ coordinate converter 5, an αβ / UVW coordinate converter 6, a PWM forming unit 7, a current. A detection unit 8, an A / D conversion unit 9, a UVW / αβ coordinate converter 10, an αβ / dq coordinate converter 11, a position estimation unit 12, and a SIN / COS calculation unit 13 are provided. Sequence control operations are performed in order. In addition, the component part implement | achieved by the control software which the processor P performs is shown with the dotted line in the figure, and the component part comprised with the hardware H is shown with the continuous line in the figure. The speed control unit 3 is configured by connecting a subtractor 14 and a PID controller 15 that performs PID control of the subtraction result of the subtracter 14. The PID controller 15 includes a command d-axis current Idref and a command q-axis current Iqref. Is output.

  The current control unit 4 includes subtractors 16d and 16q and PID controllers 17d and 17q. The subtracter 16d subtracts the d-axis current Id from the command d-axis current Idref given from the speed control unit 3 to obtain a d-axis current deviation ΔId. The subtracter 16q subtracts the q-axis current Iq from the command q-axis current Iqref given from the speed control unit 3 to obtain a q-axis current deviation ΔIq. The PID control unit 17d performs a PID calculation on the d-axis current deviation ΔId, and generates a command d-axis voltage Vd expressed in the dq coordinate system. In addition, the PID control unit 17q performs a PID calculation on the q-axis current deviation ΔIq, and generates a command q-axis voltage Vq expressed in the dq coordinate system.

  The command d-axis voltage Vd and the command q-axis voltage Vq are converted into values expressed in the α-β coordinate system by the dq / αβ coordinate converter 5, and each phase command voltage of the stator is further converted by the αβ / UVW coordinate converter 6. Converted to Vu, Vv, Vw. Note that the estimated rotation angle θe of the rotor is used for calculation of coordinate conversion in the dq / αβ coordinate converter 5. The αβ / UVW coordinate converter 6 is also supplied with a DC power supply voltage Vdc of an inverter circuit 20 to be described later, and outputs each phase command voltage Vu, Vv, Vw in consideration of this power supply voltage Vdc. Yes.

  The phase command voltages Vu, Vv, and Vw are input to the PWM forming unit 7. The PWM forming unit 7 forms a gate drive signal subjected to pulse width modulation to supply a voltage that matches the command voltages Vd and Vq.

  The motor control element 2 drives the motor 1 by applying this gate drive signal to the inverter circuit 20. FIG. 2 schematically shows the electrical configuration of the current detector. As shown in FIG. 2, the inverter circuit 20 is a voltage-type inverter in which an IGBT 21 (21 uu, 21 ud, 21 vu, 21 vd, 21 wu, 21 wd) (switching element) is configured as hardware Ha of a three-phase bridge circuit. Shunt resistors Ru, Rv, and Rw are respectively configured between the IGBTs 21ud, 21vd, and 21wd on the arm side and the DC power supply line on the negative side. A reflux diode D is connected in antiparallel to each IGBT 21.

  In the present embodiment, the currents Iu, Iv, Iw flowing in the respective phases (U phase, V phase, W phase) of the motor 1 are detected according to the terminal voltages Vdc of the respective shunt resistors Ru, Rv, Rw. Thus, a three-shunt-type current detector 8 (reference A3) is configured.

  The gate drive signal formed by the PWM forming unit 7 is given to the gate of each IGBT 21 constituting the inverter circuit 20, whereby a PWM-modulated three-phase AC voltage corresponding to each phase command voltage Vu, Vv, Vw is generated. It is generated and applied to the armature winding of the motor 1.

  The current detector 8 detects the currents Iu, Iv, and Iw. The A / D converter 9 performs A / D conversion on these currents Iu, Iv, and Iw, and the UVW / αβ coordinate converter 10 performs A / D conversion. The subsequent currents Iu, Iv, and Iw are converted into two-phase currents Iα and Iβ. The αβ / dq coordinate converter 11 converts these two-phase currents Iα and Iβ into a d-axis current Id and a q-axis current Iq. α and β represent coordinate axes of a biaxial coordinate system fixed to the stator of the motor 1. When calculating the coordinate transformation of the αβ / dq coordinate converter 11, an estimated rotation angle θe (estimated value of the phase difference between the α-axis and the d-axis) described later is used.

  The function of the position estimation unit 12 is divided into a rotation angle estimation routine 18 and a position estimation routine 19. The d-axis current Id, the q-axis current Iq, and the command d-axis voltage Vd are input and the input value is used. An estimated rotational angle θe (estimated rotational position) that is an estimated value of the rotational angle θ (rotational position) of the rotor and an estimated rotational speed ωe that is an estimated value of the rotational speed ω are estimated. The position estimation unit 12 stores values of d-axis inductance Ld, q-axis inductance Lq, and winding resistance value R of the armature winding, which are circuit constants of the motor 1.

The rotation angle estimation routine 18 of the position estimator 12 uses the input values and circuit constants to calculate the induced voltage estimated value Ed in the d-axis direction by software based on the following equation (1).
Ed = Vd−R · Id−Ld · s · Id + ωe · Lq · Iq (1)
Here, s is a differential operator. The rotation angle estimation routine 18 of the position estimation unit 12 performs a PID calculation on the induced voltage estimated value Ed, and outputs an estimated rotation speed ωe (corresponding to a rotation speed signal) of the rotor. According to this estimation method, the induced voltage estimated value Ed in the d-axis direction converges to zero. The position estimation routine 19 is configured by software based on an integration routine, and integrates the obtained estimated rotation speed ωe and outputs an estimated rotation angle θe (corresponding to rotor position information). The estimated rotation speed ωe is provided to the speed control unit 3, and the estimated rotation angle θe is output to the SIN / COS calculation unit 13. The SIN / COS calculation unit 13 performs a trigonometric function calculation corresponding to the estimated rotation angle θe or refers to the trigonometric function table and converts the trigonometric function values into the dq / αβ coordinate converter 5 and the αβ / dq coordinate converter. 11 is applied to perform feedback control.

  The speed control unit 3 is given a command rotational speed ωref output from an external control device (not shown). The subtractor 14 subtracts the estimated rotational speed ωe estimated by the position estimating unit 12 from the command rotational speed ωref to obtain a speed deviation Δω and gives it to the PID controller 15. The PID controller 15 performs a PID calculation on the speed deviation Δω to generate a command q-axis current Iqref. The command d-axis current Idref and the command q-axis current Iqref are given to the current control unit 4. The current control unit 4 performs control so that the d-axis current Id and the q-axis current Iq of the motor 1 coincide with the command d-axis current Idref and the command q-axis current Iqref, respectively. As a result of the above control, the estimated rotational speed ωe matches the command rotational speed ωref.

  In the above configuration, feedback control is performed by PID calculation by the subtractors 16d and 16q and the PID controllers 17d and 17q. Thus, the d-axis current Id and the q-axis current Iq are controlled so as to coincide with the command d-axis current Idref and the command q-axis current Iqref, respectively.

  Among these, the speed control unit 3 and the position detection unit 12 perform their operations when the processor P executes control software, and the other current control unit 4, dq / αβ coordinate converter 5, αβ / UVW coordinate converter 6. The PWM forming unit 7, the current detection unit 8, the A / D conversion unit 9, the UVW / αβ coordinate converter 10, the αβ / dq coordinate converter 11, and the SIN / COS calculation unit 13 are configured by hardware H. The inverter circuit 20 (inverter) is configured by hardware Ha different from the motor control element 2.

  The hardware H is designed by a description such as a hardware description language using a PLD, FPGA, etc. that can change and modify the logic circuit, and is hardwareized as a semiconductor device that cannot change the control algorithm by software during mass production. . The hardware H is configured to be able to operate independently as necessary except that parameter setting and trigger setting (start instruction, stop instruction) are made from the processor P.

  The manufacturer of the motor control element 2 provides a block that is easy for the user to exhibit originality and a functional unit that is likely to be subject to a design change in the future, and can be constructed by software that can be realized by the processor P. In particular, a function unit that performs vector control processing in a relationship of one-to-one input-to-output, many-to-many, etc. and that cannot take into account the user's know-how is preferably implemented as hardware.

  Although not shown, a register that can be accessed (read / written) from the processor P is secured in each of the components 4 to 11 and 13 constituting the functional units A1 to A4 of the hardware H. Input / output parameters between P and hardware H, and internal constants and internal variables used internally by the components 4 to 11 and 13 can be held.

  The speed control unit 3 and the current control unit 4 constitute a command voltage generation unit A1. The dq / αβ coordinate converter 5, the αβ / UVW coordinate converter 6, and the PWM forming unit 7 constitute a voltage calculation processing unit A2. The UVW / αβ coordinate converter 10 and the αβ / dq coordinate converter 11 constitute the input current calculation unit A4. The rotation angle estimation routine 18 constitutes a speed information generation unit A5, and the position estimation routine 19 constitutes a position information generation unit A6. Each of these blocks A1 to A6 corresponds to a functional unit of the present invention. In this embodiment, the current detection unit 8 is configured as the current detection unit A3. However, the A / D conversion unit 9 may also be considered as the current detection unit A3 or the input current calculation unit A4. .

  Hereinafter, as an example of use of the motor control element of the present embodiment, a control flow from the stop state of the motor to the steady rotation state will be described with reference to FIGS. The user of the motor control element 2 can drive the motor 1 by using this control method. However, since the control software can be freely modified while using the hardware H, various applications are possible. Can be applied to examples.

  FIG. 3 shows a state transition diagram from the stop state to the steady rotation state, and shows an application example of the motor control element 2. In order to perform the initial operation of the motor 1, it is necessary to monitor the operation of the motor 1 and perform necessary processing according to the state of the motor 1. Therefore, the initial operation of the motor 1 is divided into a plurality of stages for control. This is because the necessary processing differs for each motor control stage. The state transition diagram shown in FIG. 3 is divided into a stop / zero current detection stage, a positioning stage, a forced commutation stage, a forced steady switching stage, and a steady stage. In each stage, only software and hardware H operation processes corresponding to the stage are executed.

  The motor 1 stops at the stop / zero current detection stage. In this stage, the A / D conversion result at the time of zero current is continuously obtained during the stop state, and is set as the offset value of the current of the motor 1 (zero current detection). In the next positioning stage, a current is supplied to the coil of the motor 1 to fix the rotor position near zero. When the positioning time elapses, the process proceeds to the next stage.

  In the forced commutation stage, the rotor is rotated. At this stage, instead of feedback processing by vector control, a rotating magnetic field is forcibly applied, and the rotor follows and rotates. When the angular velocity command value reaches the lowest frequency, the process proceeds to the next stage.

  In the forced steady switching stage, the motor 1 switches from forced commutation to a steady state and performs processing. The motor 1 that has been driven regardless of the position of the rotor is driven according to the position of the rotor. When the forced steady switching time has passed, the process proceeds to the next steady stage.

  FIG. 4 shows a control operation command and an operation processing example in a table. As shown in FIG. 4, the control operation command is divided into a plurality, and the control operation by the processor P and the control operation of the hardware H can be switched between valid / invalid according to this command. Of the control operation commands shown in FIG. 4, the trigger generation unit generates a trigger used for managing input / output processing, and is realized by software or hardware H.

  The control operation command 0 is a command that can invalidate the sequence processing of each functional unit and command a mode in which each functional unit operates independently. The control operation command 1 is a command capable of instructing a mode in which the control operations of all the function units are enabled and the sequence processing of each function unit is enabled.

  The control operation command 2 is a command capable of instructing a mode in which only the control operation of the current control unit 4 among the functional units described above is invalidated and the sequence processing of other functional units is validated. The control operation command 3 is a command that can command a mode that enables only the control operation of the PWM forming unit 7 and the A / D conversion unit 9 (current detection unit 8).

FIG. 5 shows a setting example of the control operation command using a table.
As shown in FIG. 5, the control operation command 3 is used as a command in the stop state / zero current detection state, and the control operation command 1 is used as a command in the subsequent positioning state, forced commutation state, forced steady switching state, and steady state. Yes. FIG. 5 also shows setting examples of valid / invalid of the output control operation (feedback control operation), valid / invalid of the zero current detection operation, and phase interpolation enable / disable.

  In the stop state / zero current detection state, the PWM control operation is turned off by invalidating the output control operation (feedback control operation). Also, the zero current detection is enabled only in the zero current detection state, and the phase interpolation is permitted only in the forced commutation state. The control operation setting table as shown in FIGS. 4 and 5 is stored in the memory referred to by the control software, and the processor P refers to the control operation setting table while monitoring the operation state of the motor 1 from the control software. The operation of the motor 1 can be controlled.

FIG. 6 shows a schematic flow of the operation process and its transition.
As shown in FIG. 6, each operation is assigned to an output process and an input process, and these processes are executed. There are six output processes: current control process, SIN / COS calculation process, output coordinate axis conversion process, output phase conversion process, output control process, and trigger generation process. As input processing, three types of A / D conversion processing, input phase conversion processing, and input coordinate axis conversion processing are provided. These operations are executed in the order determined except for the operation invalidated by the control operation command.

<Trigger generation interrupt processing>
An outline of the trigger generation interrupt process will be described. The above-described processing starts from the operation that is enabled by the command of the control operation command. When all the output-related operations are completed, a start trigger for executing the input processing is waited for. When an input processing activation trigger occurs, the input processing is executed in order from the A / D conversion processing. The input process starts with a start trigger. Thereafter, the output process is executed by the command of the control operation command. Thus, the control operation is repeated.

The flowcharts of FIGS. 7 and 8 mainly show an outline of the processing of the control software.
<Main processing>
In the main routine shown in FIG. 7, the control is repeated at regular intervals (T1 to T6). This fixed time is set by the interrupt processing time (number of interrupt processing times interrupt interval). The control software operation (T3) created by the user, stage switching (T4), common processing (T5), and stage processing (T6) are executed every time the fixed time elapses. This stage process is one of stop / zero current detection process, positioning process, forced commutation process, forced steady switching process, and steady process.
<Interrupt processing>
In the present embodiment, the interrupt process shown in FIG. 8 is generated every PWM cycle. In this interrupt process, the number of interrupt processes is incremented (U1), and the latest A / D conversion result is assigned to the register (U2). Next, the processor P performs processing by executing control software such as angle calculation processing (U3) and speed control processing (U4).

  In each stage process, it is determined whether or not it is the stage process (U5 to U9), and a control operation command corresponding to the stage process is set and set as a command (U10 to U15). After setting the control operation command as a command, the processor P turns on the output processing command (U16) and gives an operation start command to the hardware H. Then, the hardware H executes the designated input / output process (U17). After the hardware H executes the input / output process, the interrupt request is cleared (U18).

Hereinafter, application examples of parameter setting to be set in the hardware H will be shown.
<Application example 1: short-circuit brake control, regenerative brake control>
In order to realize the short-circuit brake, it is necessary to set the command d-axis voltage Vd and the command q-axis voltage Vq to 0. In this case, the operation of the speed control unit 3 by software from the processor P and the operation of the current control unit 4 by hardware H are invalidated, and the parameter setting values of the command d-axis voltage Vd and the command q-axis voltage Vq are both set to 0 directly. Set to input register. Then, the hardware H can implement a short-circuit brake by directly driving and controlling the inverter circuit 20. Similarly, regenerative braking can be realized by adjusting parameter setting values of the command dq axis voltages Vd and Vq.

<Application example 2: Free run>
In order to realize free run, both the command d-axis current Idref and the command q-axis current Iqref need to be zero. In this case, the operation of the speed control unit 3 by software is invalidated from the processor P, and the parameter setting values of the command d-axis current Idref and the command q-axis current Iqref are both set to 0 directly and set in the current value input register. Then, the motor 1 can be free run from the hardware H via the inverter circuit 20.

  As shown in Application Examples 1 and 2, the processor P sets the command d-axis current Idref as the command d-axis current value and the command q-axis current Iqref as the command q-axis current value in the current value input register. Since the shaft voltage Vd can be written to the voltage value input register as the command d-axis voltage value and the command q-axis voltage Vq as the command q-axis voltage value, various functions (for example, short-circuit brake, regenerative brake, free) Run).

  As described above, according to the present embodiment, as described above, the current control unit 4, the dq / αβ coordinate converter 5, the αβ / UVW coordinate converter 6, the PWM forming unit 7, the current detection unit 8, and the A / D conversion unit 9. The UVW / αβ coordinate converter 10, the αβ / dq coordinate converter 11, and the SIN / COS computing unit 13 are configured by hardware H. The hardware H is configured as a fixed processing part common to the user, and can thereby be speeded up. In addition, since the position estimation unit 12 and the speed control unit 3 are configured by software, the user of the motor control element 2 can easily modify and the degree of freedom of the control method by the user can be improved. Since the user can control the motor 1 by configuring the control software so as to compensate the operation of the hardware H, the user can configure a motor control device (electrical device) utilizing various applications.

Since it is possible to switch the validity / invalidity of the operation of each part of the hardware H from the processor P, the user can easily configure various control software.
Since the processor P writes a command value corresponding to the control in the register of the hardware H, a plurality of control operations can be selected. Therefore, the processor P can easily instruct the control operation.

  Conventionally, it is difficult to perform accurate and precise control processing of the motor 1 unless all the predetermined processing can be executed within a predetermined frequency (for example, 8 kHz, 16 kHz) and a predetermined second (for example, 64 microseconds). there were. In the technical field of drive control of the motor 1, most of the time (for example, about 40 microseconds) is consumed only by basic control processing. Moreover, when the switching frequency is low, it becomes easy to generate annoying noise, and therefore it is desired to increase the predetermined frequency.

  For example, the hardware H processing described above is constructed only by the control software without performing the hardware H processing, and when the user tries to provide the product with the application specific to the product, the application is added in the remaining time. There was a limit to this. Further, if the predetermined frequency is lowered in order to avoid this problem, an unpleasant motor driving sound is generated.

According to the present embodiment, the functional unit configured by the hardware H can be speeded up because it is configured to operate in a preset sequence (in order of operation number).
According to this embodiment, since the hardware H is used in addition to the processor P, the processing time can be greatly shortened, and the user can provide a desired application as a product. become. As a result, the control resolution of the motor can be greatly improved, and the motor 1 can be easily driven and controlled without making annoying motor drive sound.

  According to the present embodiment, part of the functional units A1 to A6 of the motor control element 2 is configured as hardware H, and the other part is configured as software executed by the processor P. By setting the parameters, the hardware H and the software executed by the processor P can be operated simultaneously.

  That is, if all the functional units A1 to A6 are configured by software executed by the processor P or hardware H, sequence processing according to a predetermined flow is performed, resulting in processing time. Is more than necessary.

  As shown in the present embodiment, since part of the motor control element 2 is configured by hardware H and the other by software executed by the processor P, vector control calculation processing can be performed at the same time. The speed can be increased. That is, the degree of freedom for the user to add functions is improved while maintaining a high processing speed. This is an effect common to the embodiments including the embodiments described below.

(Second Embodiment)
FIG. 9 shows a second embodiment of the present invention. The difference from the previous embodiment is that the current control unit is not provided as hardware H and is configured by software executable by the processor P. Since the configuration of the motor control element is changed from that of the above-described embodiment, the reference numeral in the drawing is the motor control element 22 instead of the motor control element 2 of the above-described embodiment.

  In the above embodiment, only the speed control unit 3 and the position estimation unit 12 are realized by control software executed by the processor P. However, in this embodiment, the current control unit 4 can also be configured as software. This is because if the current control unit 4 is used, it may be difficult to follow the high-speed rotation control, and the processor P can directly set the command d and the q-axis voltages Vd and Vq by the control software. It becomes easy to make the control follow the high-speed rotation operation.

  This is because the configuration method of the current control unit 4 may include know-how according to the usage application of the user, and satisfies the user's request that does not require supply of the current control unit 4 as hardware H. Because. That is, the speed control unit 3 and the current control unit 4 are functional units that exhibit the know-how of the user according to the usage. According to the present embodiment, since the current control unit 4 can also be configured by software, the degree of freedom of design for the user is improved.

(Third embodiment)
FIGS. 10 to 14 show a third embodiment of the present invention. The difference from the above-described embodiment is that the three-shunt detection method and the one-shunt detection method can be switched and can be switched and set from software. It's in place. The same parts as those of the above-described embodiment are denoted by the same reference numerals, description thereof will be omitted, and different parts will be mainly described below.

  In the present embodiment, as shown in FIG. 10, a motor control element 30 is provided in place of the motor control element 2. As shown in FIG. 10, instead of the three-shunt-type current detection unit 8, both the one-shunt-type detection method and the three-shunt-type detection method current detection method are provided, and current detection that can detect the current using both methods. And an A / D conversion unit 29 for A / D converting the detection result of the current detection unit 25.

  Further, a signal generation unit 23 to which a driving method corresponding to both detection methods is applied is provided in place of the αβ / UVW coordinate converter 6. A switching device 23a for switching between the 1-shunt-type and 3-shunt-type driving methods is configured to give an instruction signal to the signal generation unit 23. When the switching unit 23a instructs the signal generation unit 23 to switch, the signal generation unit 23 switches between the 1 shunt type and the 3 shunt type and outputs the phase command voltages Vu, Vv, Vw to the PWM forming unit 24. The PWM forming unit 24 has the same function as the PWM forming unit 7. The description of the function of the three shunt type is omitted in place of the description of the above-described embodiment.

  FIG. 11 shows a schematic electrical configuration diagram of the current detection method of the one shunt detection method, and the one shunt detection method will be schematically described below. As shown in FIG. 12, a shunt resistor Ra is arranged in series with the GND power supply node instead of the current detection resistors Ru, Rv, and Rw of the above-described embodiment.

  The one-shunt type driving unit of the signal generation unit 23 selects a basic vector and a zero vector constituting the voltage command vector Vr for each PWM period by a so-called space vector method, executes PWM correction processing, and outputs to the PWM generation unit 24. Output a signal. The PWM generator 24 receives a signal from the signal generator 23 and generates a drive signal to be given to each gate of the inverter circuit 20.

  For each phase, the drive state in which the upper arm side IGBTs 21 uu, 21 vu, 21 wu are turned on is represented by 1, and the drive state in which the lower arm side IGBTs 21 ud, 21 vd, 21 wd are turned on is represented by 0, which is expressed as U phase. By arranging them in the order of V phase and W phase, it is possible to represent two zero vectors and six basic voltage vectors that can be output by the inverter circuit 20.

  FIG. 12 shows a total of eight energization patterns of six basic voltage vectors (100), (011), (010), (101), (001), (110) and zero vectors (111), (000). Is considered. As shown in FIG. 13, the six basic voltage vectors have a phase difference of 60 ° with respect to each other in the αβ coordinates.

  At this time, if the arrow directions of the currents Iu, Iv, and Iw shown in FIG. 11 are defined as positive directions, the direct current that flows through the detection resistor Ra when the eight energization patterns are energized is as shown in FIG. As is apparent from FIG. 12, in the driving states corresponding to the six basic vectors among the eight driving states determined according to the combination of ON and OFF of the IGBT 21, + Iu, -Iu, + Iv, -Iv , + Iw, -Iw flows through the resistor Ra. Therefore, the processor P can detect the phase current shown in FIG. 12 based on the current detected by the current detector 25 and the current drive state of the inverter circuit 20.

  The PWM forming unit 24 selects two adjacent basic voltage vectors having a phase difference of 60 ° and one zero vector for each PWM cycle by the space vector method, and combines them so that the number of switching times is reduced, thereby combining the inverter circuit 20 is output as a signal. In order to detect all-phase currents Iu, Iv, and Iw in a certain PWM cycle, it is necessary that drive periods corresponding to two types of basic vectors that do not have the same phase or opposite phase relationship exist in the cycle. Thus, different two-phase currents can be detected corresponding to each basic vector, and the remaining one-phase current can be obtained by calculation from the relational expression of Iu + Iv + Iw = 0. This detection method is desirable because the hardware circuit configuration is simpler than the three-shunt detection method described in the above embodiment.

FIG. 14 shows a switching sequence between the 1-shunt detection system and the 3-shunt detection system, and schematically shows the processing after the A / D conversion trigger interrupt is performed.
As shown in FIG. 14, when an A / D conversion trigger interruption occurs, the current detection unit 25 performs current detection processing, the position detection unit 12 performs angle calculation processing, and the speed control unit 3 performs speed control ( V1-V3). Thereafter, the current control unit 4 performs current control processing, the SIN / COS calculation unit 13 performs calculation, and the dq / αβ conversion unit 5 performs dq / αβ conversion processing (V4 to V6). Thereafter, in the hardware H, it is determined by referring to the drive switching register whether the switching unit 23a is the one-shunt drive current detection method or the three-shunt drive current detection method (V7), and the signal generation unit 23 performs the method. Αβ / UVW conversion processing is performed in accordance with (V8, V9), and the result is output to the PWM forming unit 24.

  Thereafter, the PWM forming unit 24 generates a PWM signal (V10) and outputs the PWM signal to the inverter circuit 20. Next, when the trigger generation unit generates and outputs a trigger (V11) and there is an interrupt, the A / D conversion unit 29 (current detection unit 25) uses the shunt drive current detection method or the three shunt drive current detection method. It is determined by referring to the drive switching register (V12), and A / D conversion processing according to the method is performed (V13, V14). Subsequently, the UVW / αβ coordinate conversion unit 10 performs UVW / αβ conversion processing (V15), the αβ / dq coordinate conversion unit 11 performs αβ / dq conversion processing (V16), and the above-described control is repeated.

  The signal generation unit 23 and the A / D conversion unit 29 (current detection unit 25) switch the 1-shunt drive current detection method and the 3-shunt drive current detection method, respectively, by referring to the drive switching register in the hardware H. Drive and current detection.

  According to the present embodiment, the processor P can write to the drive switching register, and the signal generator 23 and the A / D converter 29 can switch to the driving current detection method corresponding to the drive switching register to drive and detect current. Thus, the driving method and the current detection method can be easily switched.

(Fourth embodiment)
FIGS. 15 and 16 show a fourth embodiment of the present invention. The difference from the previous embodiment is that a motor control element includes a plurality of control circuits by including a plurality of identical circuits, and a plurality of motors are provided. It is possible to manage with multiple channels. The same parts as those of the above-described embodiment are denoted by the same reference numerals, description thereof will be omitted, and different parts will be mainly described.

  FIG. 15 shows a connection form in which a plurality of motors are connected to the output of the motor control element. As shown in FIG. 15, the motor control element 26 in place of the motor control element 2 has a multi-channel function, and has a plurality of output circuits (drive circuits MD0, MD1, MD2 (MD: Motor Driver)) and a plurality of inputs. A circuit (A / D converters AD0, AD1, AD2) is provided. Each of the plurality of drive circuits has an input / output interface and a plurality of hardware configurations (for example, the configuration of the hardware H in FIG. 1) shown in the above-described embodiment. That is, a plurality of pieces of hardware H having the same configuration are provided.

  Further, a memory is mounted on the processor P2 side, and a plurality of control software Soft0, Soft1, and Soft2 are stored in the memory. The processor P2 can execute any one of the control software Soft0, Soft1, and Soft2. As shown in FIG. 16, when the processor P2 executes one control software Soft0, the plurality of drive circuits MD0, MD1, MD2 are selectively driven and controlled, and a plurality of motors 1, 1 are controlled by one drive circuit MD0. 1 can be selectively controlled.

  Specifically, in the trigger generation interrupt process described in the above-described embodiment, a waiting time is generated from the end of the output process until the input process is started. Therefore, it is possible to execute input / output processing of other channels in multiple using this idle time.

  According to the present embodiment, the hardware H2 includes a plurality of the same drive circuits MD0, MD1, MD2, so that a plurality of control channels are provided, and a plurality of motors 1, 1,. And versatility is improved.

  Specific examples are given below. Some electrical devices use two or more microcomputers. For example, a washing machine uses a motor that rotates a washing tub and a compressor motor, and an air conditioner uses a compressor motor and an outdoor unit fan motor. In such an electrical apparatus, it is generally necessary to provide two or more control elements as motor control elements. However, when the configuration of the present embodiment is applied, the motor control element 26 drives a plurality of motors 1, 1,. Can be controlled.

<Examples of control operation command parameters and reference parameters>
Examples of control operation command parameters and reference parameters will be described below. Some of these parameter setting values are applicable in the above-described embodiment, and some parameters can be set or referred to by connecting external parts (such as an encoder) as shown in other embodiments described later. Keep in mind.

  Variable parameters used by the processor P in the control software include a main cycle timing counter, a reset waiting time counter, a reset parameter, an AD input value, a driving rotational speed, a rotational position command value, a motor control command value, a previous motor control command value, and a start d-axis current command value, start q-axis current command value, drive rotation speed acceleration / deceleration limit at forced commutation, steady-state drive rotation speed acceleration limit, steady-state drive rotation speed deceleration limit, DC excitation time length, Forced steady switching standby time, initial motor position, motor stage, motor stage history, motor stage transition, in-stage counter, interrupt processing motor stage, command (motor on / off flag, PI calculation flag for angular velocity, encoder input flag), motor angular velocity command Value, command d-axis current value Idref, command q-axis current value I ref, rotational position command value, motor status (EMG state, overcurrent state, Vdc voltage state), d-axis current reference value, q-axis current reference value, q-axis current command value (integrated value), motor angular velocity, motor angular velocity integration Parameters relating to the operation of the motor 1 such as value, motor angular speed deviation, motor electrical angle, motor angular speed, motor electrical angle, encoder counter value, encoder counter value storage, encoder count value deviation are prepared.

  The constant parameters used by the processor P in the control software include a master clock, a starting q-axis current command value, a starting d-axis current command value, a motor winding resistance, a motor q-axis inductance, a motor d-axis inductance, a motor induced voltage, Number of motor poles, maximum input current value, current error value, d-axis current limit value, q-axis current limit value, maximum starting current value, PWM cycle, PWM carrier frequency, DC maximum voltage, DC voltage limit, maximum frequency, limit frequency , Minimum frequency, driver control period, frequency control proportional gain, frequency control proportional integral gain, resolver shaft double angle, number of encoder pulses, pulse count, acceleration / deceleration limit during forced commutation, acceleration limit during steady state, deceleration limit during steady state , Length of DC excitation time, length of standby time after forced steady switching, processing Septum, the main function loop, forward / reversal, and provide a parameter related to the operation of the reset after the wait time, such as a motor 1.

  The variable parameters stored in the register by the hardware H and can be read or written from the outside are the operation control mode, operation designation, operation processing selection, rotational speed, command d-axis current value (current value input register) , Command q-axis current value (current value input register), d-axis current value, q-axis current value, command d-axis voltage value (voltage value input register), command q-axis voltage value (voltage value input register), motor phase, d-axis reference value, q-axis reference value, CPU activation trigger selection, U-phase current A / D conversion result, V-phase current A / D conversion result, W-phase current A / D conversion result, DC power supply voltage value Vdc, etc. I have prepared it.

  Further, constant parameters that the hardware H stores in the register and can be read or written from the outside include a motor control channel mode selection register, a port output mode register, an MD control register, a mode selection register, an MD output setting register, Trigger control register, trigger output mode setting register, emergency (EMG) release register, emergency control register, dead time register, hardware enable / disable, MD output control (MDOUT), flow control, PWM cycle rate, PWM cycle, PWM Period register, number of processing repetitions, start trigger mode, error interrupt enable / disable, forced termination, d-axis current control PID integral term coefficient, d-axis current control PID proportional term coefficient, d-axis current control PID differential term coefficient, q-axis Current control PID integral term coefficient, q-axis current control PI Proportional term coefficient, q-axis current control PID differential term coefficient, switching speed when shift PWM is enabled with 2-phase modulation, minimum pulse width, monitor control, A / D conversion time, MD control: EMG return, soft program register, A / A D mode setting register, an MD trigger program number selection register, an MD trigger program register, an MD trigger interrupt selection register, and the like are prepared.

  These variables and constant parameters are parameters that can be used by the user in the above-described embodiment or other embodiments described later as needed, and are configured to be able to immediately respond to hardware recombination, specification changes, etc. It is desirable that the setting software can be set or / and referred to by the control software.

(Other embodiments)
The present invention is not limited to the above embodiment, and for example, the following modifications or expansions are possible.
It suffices that at least a part of the plurality of functional units A1 to A6 (configuration units 4 to 15, 16d, 16q, 17d, and 17q) is configured by the hardware H.
Although the embodiment in which the position estimation unit 12 is incorporated as software has been described, the user of the motor control element 2 detects the position by attaching various angle sensors such as a resolver and a rotary encoder in place of the position estimation unit 12. It may be used as a part. A Hall IC may be provided as a position detection unit. In this case, the user does not need to create the position estimation unit 12. Moreover, since these can be selected according to the use of a motor application, a user's design freedom improves. This is one of the reasons why the position estimation unit 12 is not provided as hardware in the motor control element 2.

  That is, since the user may provide an angle sensor externally to the motor control element 2 or the position estimation know-how may be different for each user of the element, the speed information generation unit A5 and the position information generation unit A6. The motor control element 2 may be configured to be realized by control software executable by the processor P without being configured by hardware.

  An interrupt signal is generated to the processor P when the functional unit configured by the hardware H operates in accordance with a preset sequence. When the processor P receives the generated interrupt signal, the processor P activates predetermined control software and performs processing. You may make it do. With this configuration, the hardware H and the software executed by the processor P can be operated simultaneously.

  For example, when the position detection unit instead of the position estimation unit 12 is configured by hardware using an angle sensor, the current detection unit 8 configured by the hardware H generates a PWM interrupt signal, or the A / D conversion unit 9 performs AD A conversion end interrupt is generated, and the function of the speed calculation unit 3 is realized by software when the processor P receives the interrupt signal. Then, the calculation process by the hardware H of the UVW / αβ coordinate converter 10 and the dq / αβ coordinate converter 11 and the calculation process by the software of the speed calculation unit 3 can be processed simultaneously, and the vector control can be speeded up. .

  In addition, the command voltage generation unit A1 can be realized by the control software without being configured by hardware since the user d knows how to output the command d-axis voltage Vd and the command q-axis voltage Vq. It may be configured.

  Any one of the functions A1 to A6 described above is a function that can be realized by the processor P executing the control software, and the functions A1 to A6 are also configured by the hardware H. In this case, the functional units A1 to A6 may be configured to be switchable with the functional units A1 to A6 configured in the hardware H.

  Specifically, the case where the current control unit 4 is configured by hardware H can be given. As shown in the above-described embodiment, the current control unit 4 can be configured in the hardware H or control software, but the function is configured in the motor control element 2 in the control software or the hardware H, and is configured by a switch or the like. It is configured to switch by switching or selecting a subroutine or the like. For example, harmonic suppression current control or the like may be configured. Thereby, a user's design freedom improves.

  Moreover, although the setting value with respect to the voltage value input register of the command d-axis voltage Vd and the command q-axis voltage Vq is shown as being written by the processor P from the control software, the processor P operates the current control unit 4. Is disabled, the current control unit 4 stops outputting the command d-axis voltage Vd and the command q-axis voltage Vq to the dq / αβ coordinate converter 5, and the configuration routine (control software) of the PID control unit 15 is applied. The command d-axis voltage Vd and the command q-axis voltage Vq may be written to the voltage value input register.

  In the first and second embodiments, the dq / αβ coordinate converter 5, the αβ / UVW coordinate converter 6, and the PWM forming unit 7 are configured as the voltage calculation processing unit A2 and are all configured as hardware H. A part of may be implemented in hardware. Similarly, in the current detection unit A3 and the input current calculation unit A4, some of the configuration units 8 to 11 may be implemented as hardware.

  In the third embodiment, the dq / αβ coordinate converter 5, the signal generation unit 23, and the PWM formation unit 24 are configured as the voltage calculation processing unit A2 and are all configured as hardware H, but some of them are hardware. It may be made. Similarly, in the current detection unit A3 and the input current calculation unit A4, some of the components 25 and 9 to 11 may be implemented as hardware.

  In the drawing, A1 is a command voltage generation unit (function unit), A2 is a voltage calculation processing unit (function unit), A3 is a current detection unit (function unit), A4 is an input current calculation unit (function unit), and A5 is speed information. A generating unit (functional unit), A6 is a position information generating unit (functional unit), P and P2 are processors, and H, Ha, and H2 are hardware.

Claims (21)

A command voltage generator for generating a command d-axis voltage and a command q-axis voltage;
A voltage calculation processing unit that outputs an energization signal to an inverter configured of a switching element to drive a motor based on the command d-axis voltage and the command q-axis voltage by the command voltage generation unit;
A current detection unit for detecting a current flowing in the winding of the motor by outputting an energization signal to the inverter by the voltage calculation processing unit;
An input current calculation unit that obtains a d-axis current that is an excitation component current and a q-axis current that is a torque component current based on the detection current of the current detection unit;
Estimating the rotational speed of the motor based on at least one parameter of a motor constant, a d-axis voltage of the command voltage generator, a q-axis voltage, a d-axis current of the input current calculator, and a q-axis current; Or a speed information generator that detects the rotational speed of the motor and outputs a rotational speed signal;
A plurality of function units including a position information generation unit that outputs position information of a rotor based on a rotation speed signal output from the speed information generation unit, and drives and controls the motor via the inverter A motor control element configured to:
A processor that executes control software provided by a user or a manufacturer;
At least a part of the plurality of functional units is configured by hardware, and the functional unit configured by the hardware includes at least one of an input register, an output register, an internal variable register, an internal constant register, and the like. includes a parameter holding portion,
The parameter holding unit is configured to be readable / writable from the processor,
The functional unit configured by the hardware is configured to operate along a preset sequence ,
The functional unit is configured to be realized by the processor executing control software,
The motor control element , wherein the functional unit that can be realized by the processor executing control software is configured to be switchable with a functional unit configured in the hardware .   The motor control element according to claim 1, wherein the plurality of functional units are configured to be able to switch between valid / invalid of operation from the processor. A command voltage generator for generating a command d-axis voltage and a command q-axis voltage;
A voltage calculation processing unit that outputs an energization signal to an inverter configured of a switching element to drive a motor based on the command d-axis voltage and the command q-axis voltage by the command voltage generation unit;
A current detection unit for detecting a current flowing in the winding of the motor by outputting an energization signal to the inverter by the voltage calculation processing unit;
An input current calculation unit that obtains a d-axis current that is an excitation component current and a q-axis current that is a torque component current based on the detection current of the current detection unit;
Estimating the rotational speed of the motor based on at least one parameter of a motor constant, a d-axis voltage of the command voltage generator, a q-axis voltage, a d-axis current of the input current calculator, and a q-axis current; Or a speed information generator that detects the rotational speed of the motor and outputs a rotational speed signal;
A plurality of function units including a position information generation unit that outputs position information of a rotor based on a rotation speed signal output from the speed information generation unit, and drives and controls the motor via the inverter A motor control element configured to:
A processor that executes control software provided by a user or a manufacturer;
At least a part of the plurality of functional units is configured by hardware, and the functional unit configured by the hardware includes at least one of an input register, an output register, an internal variable register, an internal constant register, and the like. A parameter holding unit,
The parameter holding unit is configured to be readable / writable from the processor,
The functional unit configured by the hardware is configured to operate along a preset sequence,
Of the plurality of functional units, the functional unit configured by the hardware is configured to be able to switch between valid / invalid of operation from the processor . A command voltage generator for generating a command d-axis voltage and a command q-axis voltage;
A voltage calculation processing unit that outputs an energization signal to an inverter configured of a switching element to drive a motor based on the command d-axis voltage and the command q-axis voltage by the command voltage generation unit;
A current detection unit for detecting a current flowing in the winding of the motor by outputting an energization signal to the inverter by the voltage calculation processing unit;
An input current calculation unit that obtains a d-axis current that is an excitation component current and a q-axis current that is a torque component current based on the detection current of the current detection unit;
Estimating the rotational speed of the motor based on at least one parameter of a motor constant, a d-axis voltage of the command voltage generator, a q-axis voltage, a d-axis current of the input current calculator, and a q-axis current; Or a speed information generator that detects the rotational speed of the motor and outputs a rotational speed signal;
A plurality of function units including a position information generation unit that outputs position information of a rotor based on a rotation speed signal output from the speed information generation unit, and drives and controls the motor via the inverter A motor control element configured to:
A processor that executes control software provided by a user or a manufacturer;
At least a part of the plurality of functional units is configured by hardware, and the functional unit configured by the hardware includes at least one of an input register, an output register, an internal variable register, an internal constant register, and the like. A parameter holding unit,
The parameter holding unit is configured to be readable / writable from the processor,
The functional unit configured by the hardware is configured to operate along a preset sequence,
The motor control element , wherein a function unit realized by the processor executing control software among the plurality of function units is configured to be able to switch between valid / invalid of operation from the processor . Among the plurality of functional units, at least the voltage calculation processing unit is configured by hardware,
The voltage calculation processing unit includes a drive switching register that holds a flag capable of switching between a one-shunt driving current detection method and a three-shunt driving current detection method as the parameter holding unit, and is directly written from the processor to the driving switching register. 5. The current detection timing in each of the one shunt drive and the three shunt drive is switched according to a set value of the drive switching register . The motor control element described in 1. The command voltage generation unit is obtained by a speed control unit that generates a command d-axis current and a command q-axis current so that the rotation speed of the motor matches a command rotation speed given from the outside, and the input current calculation unit. A current control unit that generates a command q-axis voltage and a command q-axis voltage so that the d-axis current and the q-axis current coincide with the command d-axis current and the command q-axis current generated by the speed control unit, respectively. And
The current control unit is configured as the hardware, and includes a current value input register that holds a command d-axis current value and a command q-axis current value as the parameter holding unit, and the command value is sent from the processor to the current value input register. The motor control element according to claim 1, wherein the motor control element is configured to be directly writable . The voltage calculation processing unit includes a voltage value input register configured as the hardware and holding a command d-axis voltage value and a command q-axis voltage value as the parameter holding unit, and the command value is input from the processor to the voltage value input register. The motor control element according to claim 1, wherein the motor control element is configured to be directly writable . 8. The system according to claim 1, wherein the processor is configured to be able to select a plurality of control operations by writing a command value corresponding to control in a hardware parameter holding unit of the functional unit . The motor control element described in 1. The voltage calculation processing unit includes a dq / αβ coordinate converter that converts the command d-axis voltage and the command q-axis voltage into values expressed in an α-β coordinate system, and α-β by the dq / αβ coordinate converter. An αβ / UVW coordinate converter for converting a value expressed in the coordinate system into each phase command voltage of the stator, and each phase command voltage converted by the αβ / UVW coordinate converter are input, and a command d-axis voltage and A PWM signal forming unit that forms a pulse-width-modulated gate drive signal for supplying a voltage that matches the command q-axis voltage and outputs the gate drive signal as an energization signal to the inverter; and
The current detection unit is configured by the hardware including an A / D conversion unit that performs A / D conversion on a current value flowing through the motor,
In a stopped state, the processor enables the control operation of the current detection unit including the PWM signal forming unit and the A / D conversion unit, and the dq / αβ coordinate converter and the αβ / UVW coordinate. Set a control operation command to invalidate the control operation of the converter in the hardware,
9. The motor control element according to claim 1 , wherein a setting for disabling a feedback control operation and a zero current detection operation and disabling phase interpolation is made in the hardware to stop the PWM control operation. . The voltage calculation processing unit includes a dq / αβ coordinate converter that converts the command d-axis voltage and the command q-axis voltage into values expressed in an α-β coordinate system, and α-β by the dq / αβ coordinate converter. An αβ / UVW coordinate converter for converting a value expressed in the coordinate system into each phase command voltage of the stator, and each phase command voltage converted by the αβ / UVW coordinate converter are input, and a command d-axis voltage and A PWM signal forming unit configured to form a pulse width modulated gate drive signal for supplying a voltage that matches the command q-axis voltage, and to output as a conduction signal to the inverter;
The current detection unit is configured by hardware including an A / D conversion unit that performs A / D conversion on a current value flowing through the motor.
In the zero current detection state, the processor enables the control operation of the current detection unit including the PWM signal forming unit and the A / D conversion unit, the dq / αβ coordinate converter, and the αβ / A control operation command for invalidating the control operation of the UVW coordinate converter is set in the hardware,
10. The motor control according to claim 1 , wherein the feedback control operation is invalidated, phase interpolation is permitted, and zero current detection is performed by setting the hardware to enable zero current detection operation. element. The voltage calculation processing unit, the current detection unit, and the input current calculation unit are both configured by hardware,
In the positioning state, the processor sets, in the hardware, a control operation command that enables the control operation of the voltage calculation processing unit, the current detection unit, and the input current calculation unit, the voltage calculation processing unit, Validate the sequence processing by the current detection unit and the input current calculation unit,
2. The position of the rotor of the motor is fixed to near zero by setting the hardware to enable feedback control operation, disable zero current detection operation, and disable phase interpolation. Or a motor control element according to any one of 10 to 10; The voltage calculation processing unit, the current detection unit, and the input current calculation unit are both configured by hardware,
In the forced commutation stage, the processor sets the voltage calculation processing unit by setting a control operation command to enable the control operation of the voltage calculation processing unit, the current detection unit, and the input current calculation unit in the hardware. The sequence processing by the current detection unit and the input current calculation unit is enabled,
By enabling the feedback control operation, disabling the zero current detection operation, and setting the hardware to permit phase interpolation, the rotor rotates following the rotor by forcibly applying a rotating magnetic field. 12. The motor control element according to claim 1, wherein the motor control element is any one of claims 1 to 11. The voltage calculation processing unit, the current detection unit, and the input current calculation unit are both configured by hardware,
In the forced steady switching stage, the processor sets the voltage calculation processing unit by setting a control operation command to enable the control operation of the voltage calculation processing unit, the current detection unit, and the input current calculation unit in the hardware. The sequence processing by the current detection unit and the input current calculation unit is enabled,
A forced rotating magnetic field can be generated by enabling the feedback control operation, disabling the zero current detection operation, and disabling phase interpolation in the hardware and driving the motor in accordance with the position of the rotor. The motor control element according to claim 1, wherein the motor control element is shifted to a steady state without being given . The voltage calculation processing unit, the current detection unit, and the input current calculation unit are both configured by hardware,
In the forced steady switching stage, the processor sets the voltage calculation processing unit by setting a control operation command to enable the control operation of the voltage calculation processing unit, the current detection unit, and the input current calculation unit in the hardware. The sequence processing by the current detection unit and the input current calculation unit is enabled,
Enables the feedback control operation to be enabled, disables the zero current detection operation, and disables phase interpolation in the hardware, and drives the motor in accordance with the position of the rotor to drive it constantly. The motor control element according to claim 1, wherein A speed control unit configured by software;
A current control unit configured by the hardware,
The processor invalidates the operation of the speed control unit and the current control unit, sets both the parameter setting values of the command d-axis voltage and the command q-axis voltage to 0, and writes and sets them to the voltage value input register as the parameter holding unit The motor control element according to claim 1 , wherein short-circuit brake control is performed . The command voltage generator is
A speed controller configured by software and generating a command d-axis current and a command q-axis current;
A current control unit configured by the hardware and generating the command d-axis voltage and the command q-axis voltage based on the command d-axis current and the command q-axis current of the speed control unit;
The processor is
Both the operations of the speed control unit and the current control unit are invalidated, the parameter setting values of the command d-axis voltage and the command q-axis voltage are adjusted, and written to the voltage value input register as the parameter holding unit. The motor control element according to claim 1 , wherein the motor is subjected to regenerative brake control . The command voltage generator is
A speed control unit that generates a command d-axis current and a command q-axis current;
A current control unit configured by the hardware and generating the command d-axis voltage and the command q-axis voltage based on the command d-axis current and the command q-axis current;
The processor is
By invalidating the operation of the speed control unit, the parameter setting values of the command d-axis current and the command q-axis current are both set to 0 directly and written to the current value input register as the parameter holding unit, thereby setting the current control unit. The motor control element according to claim 1, wherein the motor is free-runned by operating the motor. At least the voltage calculation processing unit, the current detection unit, and the input current calculation unit are configured by hardware,
The motor control element according to any one of claims 1 to 17, wherein the speed information generation unit, the position information generation unit, and the command voltage generation unit can be configured by control software executed by the processor. . The motor control element according to any one of claims 1 to 18, wherein the hardware includes a plurality of identical circuits, includes a plurality of channels, and can control a plurality of motors . The functional unit configured by the hardware generates an interrupt signal to the processor when operating in accordance with a preset sequence,
20. The motor control element according to claim 1, wherein when the generated interrupt signal is received, the processor starts and processes predetermined control software . An electric device comprising a motor, an inverter, and the motor control element according to any one of claims 1 to 20.

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